Movement Sequences

I'm not sure if this is a Farseer question, though. Some of the animations are made through a sequence of movement of bodies. I mean, for example I have a specific action when triggered, moves a block during 10 seconds foward (aplying impulse), and then rotates
it (through angle limit joints). The problem is I don't know how to chain these actions (I'm pretty new on XNA), I suppose I have to make a call in the Update function to a class, and the tell class to make a movement and then, when the first has finished
make the other, but I don't know how, because when I call the "movement method" in the update class, is as I would call it for the first time. I don't know if I'm making me clear :S